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#include "shm-layout.hpp"
#include "shm.hpp"
#include "ps3eye-driver/ps3eye.hpp"
#include <cstdlib>
#include <atomic>
#ifdef __clang__
# pragma clang diagnostic ignored "-Watomic-implicit-seq-cst"
#endif
#ifdef __GNUG__
# pragma GCC diagnostic ignored "-Wcast-qual"
# pragma GCC diagnostic ignored "-Wformat-security"
# pragma GCC diagnostic ignored "-Wformat-nonliteral"
#endif
template<int N, typename... xs>
[[noreturn]]
static void error(volatile ps3eye::shm_out& out, const char (&error)[N], const xs&... args)
{
snprintf((char*)out.error_string, sizeof(ps3eye::shm_out::error_string), error, args...);
std::quick_exit(2);
}
static void update_settings(ps3eye::camera& camera, const volatile ps3eye::shm_in& in)
{
//camera.set_framerate(in.framerate);
camera.set_auto_gain(in.auto_gain);
camera.set_gain(in.gain);
camera.set_exposure(in.exposure);
camera.set_test_pattern_status(in.test_pattern);
}
static ps3eye::resolution get_mode(ps3eye::shm_in::mode res)
{
switch (res)
{
default:
case ps3eye::shm_in::mode::qvga:
return ps3eye::res_QVGA;
case ps3eye::shm_in::mode::vga:
return ps3eye::res_VGA;
}
}
int main(int argc, char** argv)
{
(void)argc; (void)argv;
shm_wrapper mem_("ps3eye-driver-shm", nullptr, sizeof(ps3eye::shm));
volatile auto& ptr_ = *(ps3eye::shm*)mem_.ptr();
volatile auto& in = ptr_.in;
volatile auto& out = ptr_.out;
int num_channels = in.channels;
auto cameras = ps3eye::list_devices();
out.status_ = ps3eye::shm_out::status::starting;
if (cameras.empty())
error(out, "no camera found");
auto& camera = cameras[0];
camera->set_debug(true);
auto* frame = (uint8_t*)out.data_640x480;
decltype(out.timecode) timecode = 0;
auto fmt = num_channels == 1 ? ps3eye::format::Gray : ps3eye::format::BGR;
{
int framerate = in.framerate;
if (framerate <= 0)
framerate = 60;
if (!camera->init(get_mode(in.resolution), framerate, fmt))
error(out, "camera init failed: %s", camera->error_string());
update_settings(*camera, in);
if (!camera->start())
error(out, "can't start camera: %s", camera->error_string());
}
out.timecode = 0;
in.do_exit = false;
std::atomic_thread_fence(std::memory_order_seq_cst);
for (;;)
{
{
auto cookie = in.settings_updated;
if (cookie != out.settings_updated_ack)
{
camera->stop();
update_settings(*camera, in);
int framerate = in.framerate;
if (framerate <= 0)
framerate = 60;
if (!camera->init(get_mode(in.resolution), framerate, fmt))
error(out, "camera init failed: %s", camera->error_string());
if (!camera->start())
error(out, "can't start camera: %s", camera->error_string());
out.settings_updated_ack = cookie;
}
}
if (!camera->get_frame(frame))
continue;
out.timecode = ++timecode;
if (in.do_exit)
break;
std::atomic_thread_fence(std::memory_order_seq_cst);
}
return 0;
}
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